Chris Majoros / ADNS9500

Interface to access to Avago ADNS-9500 laser mouse sensors.

Fork of ADNS9500 by Chris Majoros

adns9500.cpp@2:ee0c13ef1320, 2012-03-22 (annotated)

Committer:
aplatanado
Date:
Thu Mar 22 15:04:33 2012 +0000
Revision:
2:ee0c13ef1320
Parent:
1:fa3052be61b5
Child:
3:898ed1944119
Fix motion burst

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aplatanado 0:782f2061a8f5 1 /*
aplatanado 1:fa3052be61b5 2 * adns9500.hpp - Interface to access to Avago ADNS-9500 laser mouse sensors
aplatanado 0:782f2061a8f5 3 *
aplatanado 0:782f2061a8f5 4 * Copyright 2012 Jesus Torres <jmtorres@ull.es>
aplatanado 0:782f2061a8f5 5 *
aplatanado 0:782f2061a8f5 6 * Licensed under the Apache License, Version 2.0 (the "License");
aplatanado 0:782f2061a8f5 7 * you may not use this file except in compliance with the License.
aplatanado 0:782f2061a8f5 8 * You may obtain a copy of the License at
aplatanado 0:782f2061a8f5 9 *
aplatanado 0:782f2061a8f5 10 * http://www.apache.org/licenses/LICENSE-2.0
aplatanado 0:782f2061a8f5 11 *
aplatanado 0:782f2061a8f5 12 * Unless required by applicable law or agreed to in writing, software
aplatanado 0:782f2061a8f5 13 * distributed under the License is distributed on an "AS IS" BASIS,
aplatanado 0:782f2061a8f5 14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
aplatanado 0:782f2061a8f5 15 * See the License for the specific language governing permissions and
aplatanado 0:782f2061a8f5 16 * limitations under the License.
aplatanado 0:782f2061a8f5 17 */
aplatanado 0:782f2061a8f5 18
aplatanado 2:ee0c13ef1320 19 #include <cstdlib>
aplatanado 0:782f2061a8f5 20 #include <fstream>
aplatanado 0:782f2061a8f5 21 #include <math.h>
aplatanado 0:782f2061a8f5 22 #include <mbed.h>
aplatanado 0:782f2061a8f5 23 #include <string>
aplatanado 0:782f2061a8f5 24
aplatanado 1:fa3052be61b5 25 #include <adns9500.hpp>
aplatanado 0:782f2061a8f5 26
aplatanado 0:782f2061a8f5 27 #define WAIT_TSRAD() wait_us(100)
aplatanado 2:ee0c13ef1320 28 #define WAIT_TSRR() wait_us(20)
aplatanado 2:ee0c13ef1320 29 #define WAIT_TSRW() wait_us(20)
aplatanado 2:ee0c13ef1320 30 #define WAIT_TSWR() wait_us(120)
aplatanado 2:ee0c13ef1320 31 #define WAIT_TSWW() wait_us(120)
aplatanado 0:782f2061a8f5 32 #define WAIT_TBEXIT() wait_us(1) // 500ns
aplatanado 0:782f2061a8f5 33 #define WAIT_TNCSSCLK() wait_us(1) // 120ns
aplatanado 0:782f2061a8f5 34 #define WAIT_TSCLKNCS() wait_us(20)
aplatanado 0:782f2061a8f5 35 #define WAIT_TLOAD() wait_us(15)
aplatanado 0:782f2061a8f5 36
aplatanado 2:ee0c13ef1320 37 #define LONG_WAIT_MS(x) \
aplatanado 2:ee0c13ef1320 38 WAIT_TSCLKNCS(); ncs_.write(1); wait_ms(x); ncs_.write(0); WAIT_TNCSSCLK()
aplatanado 2:ee0c13ef1320 39 #define LONG_WAIT_US(x) \
aplatanado 2:ee0c13ef1320 40 WAIT_TSCLKNCS(); ncs_.write(1); wait_us(x); ncs_.write(0); WAIT_TNCSSCLK()
aplatanado 2:ee0c13ef1320 41
aplatanado 0:782f2061a8f5 42 #define DEFAULT_MAX_FPS 1958
aplatanado 2:ee0c13ef1320 43 #define DEFAULT_MAX_FRAME_PERIOD ((int)ceil(1e6 / DEFAULT_MAX_FPS)) // in us
aplatanado 0:782f2061a8f5 44 #define DEFAULT_X_CPI 1620
aplatanado 0:782f2061a8f5 45 #define DEFAULT_Y_CPI 1620
aplatanado 0:782f2061a8f5 46 #define CPI_CHANGE_UNIT 90
aplatanado 0:782f2061a8f5 47
aplatanado 2:ee0c13ef1320 48 #define SPI_BITS_PER_FRAME 8
aplatanado 2:ee0c13ef1320 49 #define SPI_MODE 3
aplatanado 2:ee0c13ef1320 50 #define SPI_WRITE_MODE 0x80
aplatanado 2:ee0c13ef1320 51
aplatanado 0:782f2061a8f5 52 #define SET_BIT(word, mask) (word | mask)
aplatanado 0:782f2061a8f5 53 #define CLEAR_BIT(word, mask) (word & (~mask))
aplatanado 0:782f2061a8f5 54
aplatanado 0:782f2061a8f5 55 namespace adns9500 {
aplatanado 0:782f2061a8f5 56
aplatanado 0:782f2061a8f5 57 ADNS9500::ADNS9500(PinName mosi, PinName miso, PinName sclk, PinName ncs,
aplatanado 0:782f2061a8f5 58 int spi_frequency, PinName motion)
aplatanado 0:782f2061a8f5 59 : spi_(mosi, miso, sclk),
aplatanado 0:782f2061a8f5 60 motion_(motion),
aplatanado 0:782f2061a8f5 61 ncs_(ncs),
aplatanado 0:782f2061a8f5 62 enabled_(false),
aplatanado 0:782f2061a8f5 63 xCpi_(DEFAULT_X_CPI), yCpi_(DEFAULT_Y_CPI)
aplatanado 0:782f2061a8f5 64 {
aplatanado 2:ee0c13ef1320 65 spi_.format(SPI_BITS_PER_FRAME, SPI_MODE);
aplatanado 2:ee0c13ef1320 66
aplatanado 2:ee0c13ef1320 67 motion_.mode(PullUp);
aplatanado 0:782f2061a8f5 68 motion_.fall(this, &ADNS9500::motionTrigger);
aplatanado 0:782f2061a8f5 69 }
aplatanado 0:782f2061a8f5 70
aplatanado 0:782f2061a8f5 71 ADNS9500::~ADNS9500()
aplatanado 0:782f2061a8f5 72 {
aplatanado 0:782f2061a8f5 73 shutdown();
aplatanado 0:782f2061a8f5 74 }
aplatanado 0:782f2061a8f5 75
aplatanado 0:782f2061a8f5 76 void ADNS9500::reset(const char* firmware)
aplatanado 0:782f2061a8f5 77 {
aplatanado 0:782f2061a8f5 78 // SPI port reset
aplatanado 0:782f2061a8f5 79 ncs_.write(1);
aplatanado 0:782f2061a8f5 80 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 81 ncs_.write(0);
aplatanado 0:782f2061a8f5 82 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 83
aplatanado 0:782f2061a8f5 84 // send 0x3a to POWER_UP_RESET and wait for at least 50ms
aplatanado 2:ee0c13ef1320 85 spiSend(POWER_UP_RESET, 0x5a);
aplatanado 2:ee0c13ef1320 86 LONG_WAIT_MS(50);
aplatanado 0:782f2061a8f5 87
aplatanado 0:782f2061a8f5 88 // clear observation register. Only required to deassert shutdown mode.
aplatanado 2:ee0c13ef1320 89 spiSend(OBSERVATION, 0x00);
aplatanado 2:ee0c13ef1320 90 LONG_WAIT_US(DEFAULT_MAX_FRAME_PERIOD);
aplatanado 0:782f2061a8f5 91
aplatanado 0:782f2061a8f5 92 // check observation register bits [5:0]
aplatanado 2:ee0c13ef1320 93 int observation = spiReceive(OBSERVATION);
aplatanado 0:782f2061a8f5 94 if (! ADNS9500_IF_OBSERVATION_TEST(observation))
aplatanado 0:782f2061a8f5 95 error("ADNS9500::reset : observation register test failed: 0x%x\n", observation);
aplatanado 0:782f2061a8f5 96
aplatanado 0:782f2061a8f5 97 // read motion data
aplatanado 2:ee0c13ef1320 98 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 99 spiReceive(MOTION);
aplatanado 2:ee0c13ef1320 100 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 101 spiReceive(DELTA_X_L);
aplatanado 2:ee0c13ef1320 102 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 103 spiReceive(DELTA_X_H);
aplatanado 2:ee0c13ef1320 104 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 105 spiReceive(DELTA_Y_L);
aplatanado 2:ee0c13ef1320 106 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 107 spiReceive(DELTA_Y_H);
aplatanado 0:782f2061a8f5 108
aplatanado 2:ee0c13ef1320 109 // read product and revision id to test the connection
aplatanado 2:ee0c13ef1320 110 WAIT_TSRR();
aplatanado 0:782f2061a8f5 111 spi_.write(PRODUCT_ID);
aplatanado 0:782f2061a8f5 112 WAIT_TSRAD();
aplatanado 2:ee0c13ef1320 113 int product_id = spi_.write(0x00);
aplatanado 2:ee0c13ef1320 114 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 115 spi_.write(REVISION_ID);
aplatanado 0:782f2061a8f5 116 WAIT_TSRAD();
aplatanado 0:782f2061a8f5 117 int revision_id = spi_.write(0x00);
aplatanado 2:ee0c13ef1320 118
aplatanado 0:782f2061a8f5 119 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 120 ncs_.write(1);
aplatanado 0:782f2061a8f5 121
aplatanado 0:782f2061a8f5 122 if (product_id != 0x33) {
aplatanado 0:782f2061a8f5 123 error("ADNS9500::reset : bad product ID: 0x%x\n", product_id);
aplatanado 0:782f2061a8f5 124 }
aplatanado 0:782f2061a8f5 125
aplatanado 0:782f2061a8f5 126 if (revision_id != 0x03) {
aplatanado 0:782f2061a8f5 127 error("ADNS9500::reset : bad revision ID: 0x%x\n", revision_id);
aplatanado 0:782f2061a8f5 128 }
aplatanado 0:782f2061a8f5 129
aplatanado 0:782f2061a8f5 130 enabled_ = true;
aplatanado 0:782f2061a8f5 131
aplatanado 0:782f2061a8f5 132 if (firmware) {
aplatanado 0:782f2061a8f5 133 sromDownload(firmware);
aplatanado 0:782f2061a8f5 134 enableLaser();
aplatanado 0:782f2061a8f5 135 }
aplatanado 0:782f2061a8f5 136 }
aplatanado 0:782f2061a8f5 137
aplatanado 0:782f2061a8f5 138 void ADNS9500::shutdown()
aplatanado 0:782f2061a8f5 139 {
aplatanado 0:782f2061a8f5 140 if (! enabled_)
aplatanado 0:782f2061a8f5 141 error("ADNS9500::shutdown : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 142
aplatanado 0:782f2061a8f5 143 ncs_.write(0);
aplatanado 0:782f2061a8f5 144 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 145
aplatanado 0:782f2061a8f5 146 // send 0x3a to POWER_UP_RESET
aplatanado 2:ee0c13ef1320 147 spiSend(POWER_UP_RESET, 0x5a);
aplatanado 2:ee0c13ef1320 148
aplatanado 0:782f2061a8f5 149 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 150 ncs_.write(1);
aplatanado 0:782f2061a8f5 151
aplatanado 0:782f2061a8f5 152 enabled_ = false;
aplatanado 0:782f2061a8f5 153 }
aplatanado 0:782f2061a8f5 154
aplatanado 0:782f2061a8f5 155 int ADNS9500::read(Register lregister)
aplatanado 0:782f2061a8f5 156 {
aplatanado 0:782f2061a8f5 157 if (! enabled_)
aplatanado 0:782f2061a8f5 158 error("ADNS9500::read : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 159
aplatanado 0:782f2061a8f5 160 ncs_.write(0);
aplatanado 0:782f2061a8f5 161 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 162
aplatanado 0:782f2061a8f5 163 // send the command to read the register
aplatanado 2:ee0c13ef1320 164 int value = spiReceive(lregister);
aplatanado 2:ee0c13ef1320 165
aplatanado 0:782f2061a8f5 166 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 167 ncs_.write(1);
aplatanado 2:ee0c13ef1320 168
aplatanado 0:782f2061a8f5 169 return value;
aplatanado 0:782f2061a8f5 170 }
aplatanado 0:782f2061a8f5 171
aplatanado 0:782f2061a8f5 172 int ADNS9500::read(Register uregister, Register lregister)
aplatanado 0:782f2061a8f5 173 {
aplatanado 0:782f2061a8f5 174 if (! enabled_)
aplatanado 0:782f2061a8f5 175 error("ADNS9500::read : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 176
aplatanado 0:782f2061a8f5 177 ncs_.write(0);
aplatanado 0:782f2061a8f5 178 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 179
aplatanado 0:782f2061a8f5 180 // send the command to read the registers
aplatanado 2:ee0c13ef1320 181 int lvalue = spiReceive(lregister);
aplatanado 2:ee0c13ef1320 182 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 183 int uvalue = spiReceive(uregister);
aplatanado 2:ee0c13ef1320 184
aplatanado 0:782f2061a8f5 185 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 186 ncs_.write(1);
aplatanado 0:782f2061a8f5 187
aplatanado 0:782f2061a8f5 188 return ADNS9500_UINT16(uvalue, lvalue);
aplatanado 0:782f2061a8f5 189 }
aplatanado 0:782f2061a8f5 190
aplatanado 0:782f2061a8f5 191 int ADNS9500::sromDownload(const char* filename)
aplatanado 0:782f2061a8f5 192 {
aplatanado 0:782f2061a8f5 193 if (! enabled_)
aplatanado 0:782f2061a8f5 194 error("ADNS9500::sromDownload : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 195
aplatanado 0:782f2061a8f5 196 ncs_.write(0);
aplatanado 0:782f2061a8f5 197 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 198
aplatanado 0:782f2061a8f5 199 // SROM download
aplatanado 2:ee0c13ef1320 200 spiSend(CONFIGURATION_IV, ADNS9500_CONFIGURATION_IV_SROM_SIZE);
aplatanado 2:ee0c13ef1320 201 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 202 spiSend(SROM_ENABLE, 0x1d);
aplatanado 2:ee0c13ef1320 203 LONG_WAIT_US(DEFAULT_MAX_FRAME_PERIOD);
aplatanado 2:ee0c13ef1320 204
aplatanado 2:ee0c13ef1320 205 spiSend(SROM_ENABLE, 0x18);
aplatanado 2:ee0c13ef1320 206 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 207 spi_.write(SET_BIT(SROM_LOAD_BURST, SPI_WRITE_MODE));
aplatanado 2:ee0c13ef1320 208
aplatanado 2:ee0c13ef1320 209 // we expect a line per byte in hex without 0x prefix
aplatanado 2:ee0c13ef1320 210 char buffer[4];
aplatanado 0:782f2061a8f5 211 ifstream ifs(filename, ifstream::in);
aplatanado 2:ee0c13ef1320 212 while(ifs.getline(buffer, sizeof(buffer)).good()) {
aplatanado 0:782f2061a8f5 213 WAIT_TLOAD();
aplatanado 2:ee0c13ef1320 214 int byte = strtol(buffer, NULL, 16);
aplatanado 2:ee0c13ef1320 215 spi_.write(byte);
aplatanado 0:782f2061a8f5 216 }
aplatanado 0:782f2061a8f5 217 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 218 ncs_.write(1);
aplatanado 0:782f2061a8f5 219 WAIT_TBEXIT();
aplatanado 0:782f2061a8f5 220
aplatanado 0:782f2061a8f5 221 if (! ifs.eof())
aplatanado 0:782f2061a8f5 222 error("ADNS9500::sromDownload : error reading from file: %s\n", filename);
aplatanado 0:782f2061a8f5 223
aplatanado 0:782f2061a8f5 224 // test if SROM was downloaded successfully
aplatanado 0:782f2061a8f5 225 wait_us(160);
aplatanado 0:782f2061a8f5 226 ncs_.write(0);
aplatanado 0:782f2061a8f5 227 WAIT_TNCSSCLK();
aplatanado 2:ee0c13ef1320 228
aplatanado 2:ee0c13ef1320 229 int srom_id = spiReceive(SROM_ID);
aplatanado 2:ee0c13ef1320 230
aplatanado 0:782f2061a8f5 231 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 232 ncs_.write(1);
aplatanado 0:782f2061a8f5 233
aplatanado 0:782f2061a8f5 234 if (! srom_id)
aplatanado 0:782f2061a8f5 235 error("ADNS9500::sromDownload : the firmware was not successful downloaded\n");
aplatanado 0:782f2061a8f5 236
aplatanado 0:782f2061a8f5 237 // test laser fault condition
aplatanado 0:782f2061a8f5 238 ncs_.write(0);
aplatanado 0:782f2061a8f5 239 WAIT_TNCSSCLK();
aplatanado 2:ee0c13ef1320 240
aplatanado 2:ee0c13ef1320 241 int motion = spiReceive(MOTION);
aplatanado 2:ee0c13ef1320 242
aplatanado 0:782f2061a8f5 243 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 244 ncs_.write(1);
aplatanado 0:782f2061a8f5 245
aplatanado 0:782f2061a8f5 246 if (ADNS9500_IF_LASER_FAULT(motion))
aplatanado 0:782f2061a8f5 247 error("ADNS9500::sromDownload : laser fault condition detected\n");
aplatanado 0:782f2061a8f5 248
aplatanado 0:782f2061a8f5 249 // return the SROM CRC value
aplatanado 0:782f2061a8f5 250 ncs_.write(0);
aplatanado 0:782f2061a8f5 251 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 252
aplatanado 2:ee0c13ef1320 253 spiSend(SROM_ENABLE, 0x15);
aplatanado 2:ee0c13ef1320 254 LONG_WAIT_MS(10);
aplatanado 2:ee0c13ef1320 255
aplatanado 2:ee0c13ef1320 256 int lcrc = spiReceive(DATA_OUT_LOWER);
aplatanado 2:ee0c13ef1320 257 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 258 int ucrc = spiReceive(DATA_OUT_UPPER);
aplatanado 0:782f2061a8f5 259
aplatanado 0:782f2061a8f5 260 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 261 ncs_.write(1);
aplatanado 0:782f2061a8f5 262
aplatanado 0:782f2061a8f5 263 return ADNS9500_UINT16(ucrc, lcrc);
aplatanado 0:782f2061a8f5 264 }
aplatanado 0:782f2061a8f5 265
aplatanado 0:782f2061a8f5 266 void ADNS9500::enableLaser(bool enable)
aplatanado 0:782f2061a8f5 267 {
aplatanado 0:782f2061a8f5 268 if (! enabled_)
aplatanado 0:782f2061a8f5 269 error("ADNS9500::enableLaser : the sensor is not enabled\n");
aplatanado 2:ee0c13ef1320 270
aplatanado 0:782f2061a8f5 271 ncs_.write(0);
aplatanado 0:782f2061a8f5 272 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 273
aplatanado 0:782f2061a8f5 274 if (enable) {
aplatanado 0:782f2061a8f5 275 int laser_ctrl0 = CLEAR_BIT(0x00, ADNS9500_LASER_CTRL0_FORCE_DISABLED);
aplatanado 2:ee0c13ef1320 276 spiSend(LASER_CTRL0, laser_ctrl0);
aplatanado 0:782f2061a8f5 277 }
aplatanado 0:782f2061a8f5 278 else {
aplatanado 0:782f2061a8f5 279 int laser_ctrl0 = SET_BIT(0x00, ADNS9500_LASER_CTRL0_FORCE_DISABLED);
aplatanado 2:ee0c13ef1320 280 spiSend(LASER_CTRL0, laser_ctrl0);
aplatanado 0:782f2061a8f5 281 }
aplatanado 0:782f2061a8f5 282
aplatanado 0:782f2061a8f5 283 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 284 ncs_.write(1);
aplatanado 0:782f2061a8f5 285 }
aplatanado 0:782f2061a8f5 286
aplatanado 0:782f2061a8f5 287 bool ADNS9500::getMotionDelta(int& dx, int& dy)
aplatanado 0:782f2061a8f5 288 {
aplatanado 0:782f2061a8f5 289 if (! enabled_)
aplatanado 0:782f2061a8f5 290 error("ADNS9500::getMotionDelta : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 291
aplatanado 0:782f2061a8f5 292 ncs_.write(0);
aplatanado 0:782f2061a8f5 293 WAIT_TNCSSCLK();
aplatanado 2:ee0c13ef1320 294
aplatanado 2:ee0c13ef1320 295 dx = 0;
aplatanado 2:ee0c13ef1320 296 dy = 0;
aplatanado 2:ee0c13ef1320 297
aplatanado 2:ee0c13ef1320 298 int motion = spiReceive(MOTION);
aplatanado 0:782f2061a8f5 299 if (ADNS9500_IF_MOTION(motion)) {
aplatanado 2:ee0c13ef1320 300 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 301 int dxl = spiReceive(DELTA_X_L);
aplatanado 2:ee0c13ef1320 302 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 303 dx += ADNS9500_INT16(spiReceive(DELTA_X_H), dxl);
aplatanado 0:782f2061a8f5 304
aplatanado 2:ee0c13ef1320 305 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 306 int dyl = spiReceive(DELTA_Y_L);
aplatanado 2:ee0c13ef1320 307 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 308 dy += ADNS9500_INT16(spiReceive(DELTA_Y_H), dyl);
aplatanado 0:782f2061a8f5 309 }
aplatanado 0:782f2061a8f5 310
aplatanado 0:782f2061a8f5 311 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 312 ncs_.write(1);
aplatanado 2:ee0c13ef1320 313
aplatanado 0:782f2061a8f5 314 return ADNS9500_IF_MOTION(motion);
aplatanado 0:782f2061a8f5 315 }
aplatanado 0:782f2061a8f5 316
aplatanado 0:782f2061a8f5 317 bool ADNS9500::getMotionDeltaMM(float& dx, float& dy)
aplatanado 0:782f2061a8f5 318 {
aplatanado 0:782f2061a8f5 319 int rawDx, rawDy;
aplatanado 0:782f2061a8f5 320
aplatanado 0:782f2061a8f5 321 bool motion = getMotionDelta(rawDx, rawDy);
aplatanado 0:782f2061a8f5 322 dx = (float)rawDx / xCpi_ * 25.4;
aplatanado 0:782f2061a8f5 323 dy = (float)rawDy / yCpi_ * 25.4;
aplatanado 0:782f2061a8f5 324
aplatanado 0:782f2061a8f5 325 return motion;
aplatanado 0:782f2061a8f5 326 }
aplatanado 0:782f2061a8f5 327
aplatanado 0:782f2061a8f5 328 bool ADNS9500::getMotionData(MotionData& data)
aplatanado 0:782f2061a8f5 329 {
aplatanado 0:782f2061a8f5 330 if (! enabled_)
aplatanado 0:782f2061a8f5 331 error("ADNS9500::getMotionData : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 332
aplatanado 0:782f2061a8f5 333 ncs_.write(0);
aplatanado 0:782f2061a8f5 334 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 335
aplatanado 0:782f2061a8f5 336 // activate motion burst mode
aplatanado 0:782f2061a8f5 337 spi_.write(0x50);
aplatanado 2:ee0c13ef1320 338 WAIT_TSRAD(); // see the chronogram
aplatanado 0:782f2061a8f5 339
aplatanado 0:782f2061a8f5 340 // read motion burst data
aplatanado 0:782f2061a8f5 341 data.motion = spi_.write(0x00);
aplatanado 0:782f2061a8f5 342 data.observation = spi_.write(0x00);
aplatanado 0:782f2061a8f5 343
aplatanado 0:782f2061a8f5 344 int ldx = spi_.write(0x00);
aplatanado 2:ee0c13ef1320 345 data.dx = ADNS9500_INT16(spi_.write(0x00), ldx);
aplatanado 0:782f2061a8f5 346
aplatanado 0:782f2061a8f5 347 int ldy = spi_.write(0x00);
aplatanado 2:ee0c13ef1320 348 data.dy = ADNS9500_INT16(spi_.write(0x00), ldy);
aplatanado 0:782f2061a8f5 349
aplatanado 2:ee0c13ef1320 350 data.surfaceQuality = spi_.write(0x00) * 4;
aplatanado 2:ee0c13ef1320 351 data.averagePixel = spi_.write(0x00) / 1.76;
aplatanado 0:782f2061a8f5 352 data.maximumPixel = spi_.write(0x00);
aplatanado 0:782f2061a8f5 353 data.minimumPixel = spi_.write(0x00);
aplatanado 0:782f2061a8f5 354
aplatanado 0:782f2061a8f5 355 int ushutter = spi_.write(0x00);
aplatanado 0:782f2061a8f5 356 data.shutter = ADNS9500_UINT16(ushutter, spi_.write(0x00));
aplatanado 0:782f2061a8f5 357
aplatanado 0:782f2061a8f5 358 int uframe_period = spi_.write(0x00);
aplatanado 0:782f2061a8f5 359 data.framePeriod = ADNS9500_UINT16(uframe_period, spi_.write(0x00));
aplatanado 0:782f2061a8f5 360
aplatanado 0:782f2061a8f5 361 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 362 ncs_.write(1);
aplatanado 0:782f2061a8f5 363 WAIT_TBEXIT();
aplatanado 2:ee0c13ef1320 364
aplatanado 2:ee0c13ef1320 365 data.dxMM = (float)data.dx / xCpi_ * 25.4;
aplatanado 2:ee0c13ef1320 366 data.dyMM = (float)data.dy / yCpi_ * 25.4;
aplatanado 2:ee0c13ef1320 367
aplatanado 2:ee0c13ef1320 368 // write a value to Motion register to clear motion bit
aplatanado 2:ee0c13ef1320 369 ncs_.write(0);
aplatanado 2:ee0c13ef1320 370 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 371
aplatanado 2:ee0c13ef1320 372 spiSend(MOTION, 0x00);
aplatanado 2:ee0c13ef1320 373
aplatanado 2:ee0c13ef1320 374 WAIT_TSCLKNCS();
aplatanado 2:ee0c13ef1320 375 ncs_.write(1);
aplatanado 2:ee0c13ef1320 376
aplatanado 0:782f2061a8f5 377 return ADNS9500_IF_MOTION(data.motion);
aplatanado 0:782f2061a8f5 378 }
aplatanado 0:782f2061a8f5 379
aplatanado 0:782f2061a8f5 380 void ADNS9500::setResolution(Resolution xy_resolution)
aplatanado 0:782f2061a8f5 381 {
aplatanado 0:782f2061a8f5 382 if (! enabled_)
aplatanado 0:782f2061a8f5 383 error("ADNS9500::setResolution : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 384
aplatanado 0:782f2061a8f5 385 ncs_.write(0);
aplatanado 0:782f2061a8f5 386 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 387
aplatanado 0:782f2061a8f5 388 // enable XY axes CPI in sync mode
aplatanado 2:ee0c13ef1320 389 int rpt_mod = spiReceive(CONFIGURATION_II);
aplatanado 2:ee0c13ef1320 390 rpt_mod = CLEAR_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD);
aplatanado 2:ee0c13ef1320 391 WAIT_TSRW();
aplatanado 2:ee0c13ef1320 392 spiSend(CONFIGURATION_II, rpt_mod);
aplatanado 0:782f2061a8f5 393
aplatanado 0:782f2061a8f5 394 // set resolution for X-axis and Y-axis
aplatanado 2:ee0c13ef1320 395 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 396 spiSend(CONFIGURATION_I, xy_resolution);
aplatanado 0:782f2061a8f5 397
aplatanado 0:782f2061a8f5 398 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 399 ncs_.write(1);
aplatanado 0:782f2061a8f5 400
aplatanado 0:782f2061a8f5 401 xCpi_ = xy_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 402 yCpi_ = xy_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 403 }
aplatanado 0:782f2061a8f5 404
aplatanado 0:782f2061a8f5 405 void ADNS9500::setResolution(Resolution x_resolution, Resolution y_resolution)
aplatanado 0:782f2061a8f5 406 {
aplatanado 0:782f2061a8f5 407 if (! enabled_)
aplatanado 0:782f2061a8f5 408 error("ADNS9500::setResolution : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 409
aplatanado 0:782f2061a8f5 410 ncs_.write(0);
aplatanado 0:782f2061a8f5 411 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 412
aplatanado 0:782f2061a8f5 413 // disable XY axes CPI in sync mode
aplatanado 2:ee0c13ef1320 414 int rpt_mod = spiReceive(CONFIGURATION_II);
aplatanado 2:ee0c13ef1320 415 rpt_mod = SET_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD);
aplatanado 2:ee0c13ef1320 416 WAIT_TSRW();
aplatanado 2:ee0c13ef1320 417 spiSend(CONFIGURATION_II, rpt_mod);
aplatanado 0:782f2061a8f5 418
aplatanado 0:782f2061a8f5 419 // set resolution for X-axis
aplatanado 2:ee0c13ef1320 420 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 421 spiSend(CONFIGURATION_I, x_resolution);
aplatanado 0:782f2061a8f5 422
aplatanado 0:782f2061a8f5 423 // set resolution for Y-axis
aplatanado 2:ee0c13ef1320 424 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 425 spiSend(CONFIGURATION_V, y_resolution);
aplatanado 0:782f2061a8f5 426
aplatanado 0:782f2061a8f5 427 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 428 ncs_.write(1);
aplatanado 0:782f2061a8f5 429
aplatanado 0:782f2061a8f5 430 xCpi_ = x_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 431 yCpi_ = y_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 432 }
aplatanado 0:782f2061a8f5 433
aplatanado 0:782f2061a8f5 434 void ADNS9500::captureFrame(uint8_t pixels[NUMBER_OF_PIXELS_PER_FRAME])
aplatanado 0:782f2061a8f5 435 {
aplatanado 0:782f2061a8f5 436 if (! enabled_)
aplatanado 0:782f2061a8f5 437 error("ADNS9500::captureFrame : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 438
aplatanado 0:782f2061a8f5 439 ncs_.write(0);
aplatanado 0:782f2061a8f5 440 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 441
aplatanado 2:ee0c13ef1320 442 spiSend(FRAME_CAPTURE, 0x93);
aplatanado 2:ee0c13ef1320 443 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 444 spiSend(FRAME_CAPTURE, 0xc5);
aplatanado 2:ee0c13ef1320 445 LONG_WAIT_US(2*DEFAULT_MAX_FRAME_PERIOD);
aplatanado 2:ee0c13ef1320 446
aplatanado 0:782f2061a8f5 447 // check for first pixel reading motion bit
aplatanado 0:782f2061a8f5 448 while(true) {
aplatanado 2:ee0c13ef1320 449 int motion = spiReceive(MOTION);
aplatanado 0:782f2061a8f5 450 if (ADNS9500_IF_MOTION(motion))
aplatanado 0:782f2061a8f5 451 break;
aplatanado 2:ee0c13ef1320 452 WAIT_TSRR();
aplatanado 0:782f2061a8f5 453 }
aplatanado 2:ee0c13ef1320 454 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 455
aplatanado 0:782f2061a8f5 456 // read pixel values
aplatanado 0:782f2061a8f5 457 spi_.write(PIXEL_BURST);
aplatanado 0:782f2061a8f5 458 WAIT_TSRAD();
aplatanado 0:782f2061a8f5 459 for (uint8_t* p = pixels; p != pixels + sizeof(pixels); ++p) {
aplatanado 0:782f2061a8f5 460 WAIT_TLOAD();
aplatanado 0:782f2061a8f5 461 *p = spi_.write(PIXEL_BURST);
aplatanado 0:782f2061a8f5 462 }
aplatanado 0:782f2061a8f5 463
aplatanado 0:782f2061a8f5 464 // burst exit
aplatanado 0:782f2061a8f5 465 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 466 ncs_.write(1);
aplatanado 0:782f2061a8f5 467 WAIT_TBEXIT();
aplatanado 0:782f2061a8f5 468 }
aplatanado 2:ee0c13ef1320 469
aplatanado 2:ee0c13ef1320 470 void ADNS9500::spiSend(Register address, int value)
aplatanado 2:ee0c13ef1320 471 {
aplatanado 2:ee0c13ef1320 472 spi_.write(SET_BIT(address, SPI_WRITE_MODE));
aplatanado 2:ee0c13ef1320 473 spi_.write(value);
aplatanado 2:ee0c13ef1320 474 }
aplatanado 2:ee0c13ef1320 475
aplatanado 2:ee0c13ef1320 476 int ADNS9500::spiReceive(Register address)
aplatanado 2:ee0c13ef1320 477 {
aplatanado 2:ee0c13ef1320 478 spi_.write(CLEAR_BIT(address, SPI_WRITE_MODE));
aplatanado 2:ee0c13ef1320 479 WAIT_TSRAD();
aplatanado 2:ee0c13ef1320 480 return spi_.write(0x00);
aplatanado 2:ee0c13ef1320 481 }
aplatanado 0:782f2061a8f5 482 }